Libertarian fundies generally follow the maxim that freedom only stops when it impinges on someone else's. Unfortunately, most of them utterly fail to realise - sometimes quite deliberately, I am sure - that in the complex, interconnected modern world, everything is influenced by everything else. According to this, their own definition, the so-called free-market is anything but; it's all very well claiming, Randroid-like, that unemployed people simply need to decide to work, and two hundred years ago you may just barely have been right, barring certain other impracticalities, but it simply doesn't work that way when the free market has, quite simply, reached global saturation and no longer has any direction to expand in, and thus there is no longer enough work to go around and little possibility of carving out a new niche to create jobs - there are no more frontiers, there is no wilderness left to colonise, the global resources have all been staked out.
In today's "free" market, if you've exercised your own capitalist, libertarian freedom to undercut competition, introduced more efficient machines and employed fewer people or whatever and produce a commodity for a lower price (whilst protecting your innovations with a patent, of course - making absolutely everything someone's exclusive property is a cornerstone of a lot of libertarian thought, after all), you've destroyed the market for anyone else whose skill is to make what you do, and in doing so destroyed their livelihood, and hence an important part of their freedom. To which the ultra-libertarian response is generally "Fuck them. I don't care, shouldn't have to and you can't make me." although usually phrased more evasively.
And, if you couldn't be bothered to read all that, read this:
If you equate taxation, and the allocation of taxes to socially beneficial programmes, as theft, then you either don't live in a democracy (in which case you have my sympathy), or you've no fucking idea how democracy is supposed to work (in which case you don't).